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Commit 5109a72e authored by Tim Stadtmann's avatar Tim Stadtmann
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Extend and improve error-handling in BrickIO-layer 

I also added a function that returns an ID to be used as an
error identifier and adapted the previously implemented
error handling to it.
parent 8555db2a
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source/ID.m 0 → 100644
+ 24
− 0
View file @ 5109a72e
function id = ID()
% Generates a string that serves as an ID for a calling function
toolbox = 'RWTHMindstormsEV3';
% Get stack trace
stackTrace = dbstack();
% Element on top of stack is this function (ID()), second element is caller
callerList = strsplit(stackTrace(2).name, '.');
% The anticipated format of the caller is classname.functionname
functionName = callerList{length(callerList)};
% Create id
if length(callerList) > 1
className = callerList{length(callerList)-1};
id = [toolbox, ':', className, ':', functionName];
else
id = [toolbox, ':', functionName];
end
end
source/btBrickIO.m
+ 72
− 19
View file @ 5109a72e
......@@ -53,9 +53,27 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO init\n');
end
% set the connection handle
% Set the connection handle
try
brickIO.handle = serial(brickIO.serialPort);
% open the connection handle
catch ME
if ~isempty(strfind(ME.identifier, 'invalidPORT'))
% Throw a clean InvalidSerialPort to avoid confusion in upper layers
msg = 'Couldn''t connect to BT-device because given serial port is invalid.';
id = [ID(), ':', 'InvalidSerialPort'];
throw(MException(id, msg));
else
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while creating serial-port-object for BT connection.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
end
% Open the connection handle
brickIO.open;
end
......@@ -79,23 +97,24 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO open\n');
end
% open the bt handle (MMI: and handle possible errors)
% Open the bt handle
try
fopen(brickIO.handle);
catch ME
if strcmp(ME.identifier, 'MATLAB:serial:fopen:opfailed')
% Throw only clean commError to avoid confusion in upper layers
msg = ['Failed to connect to Brick via Bluetooth.'] ;
id = 'MATLAB:RWTHMindstormsEV3:btBrickIO:open:commError';
msg = 'Failed to connect to Brick via Bluetooth.';
id = [ID(), ':', 'commError'];
throw(MException(id, msg));
else
% Throw combined error because error did not happen due to communication
% failure
msg = ['Unknown error occurred while connecting to the Brick via Bluetooth.'];
id = 'MATLAB:RWTHMindstormsEV3:btBrickIO:open:unknownError';
causeException = MException(id, msg);
ME = addCause(ME, causeException);
rethrow(ME);
msg = 'Unknown error occurred while connecting to the Brick via Bluetooth.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
end
end
......@@ -109,8 +128,19 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO close\n');
end
% close the close handle
try
% Close the close handle
fclose(brickIO.handle);
catch ME
% Throw combined error because error did not happen due to communication
% failure
msg = 'Unknown error occurred while disconnecting from the Brick via Bluetooth.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
end
function rmsg = read(brickIO)
......@@ -122,11 +152,23 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO read\n');
end
% get the number of bytes to be read from the bt handle
try
% Get the number of bytes to be read from the bt handle
nLength = fread(brickIO.handle,2);
% read the remaining bytes
% Read the remaining bytes
rmsg = fread(brickIO.handle,double(typecast(uint8(nLength),'uint16')));
% append the reply size to the return message
catch ME
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while reading data from the Brick via BT.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
% Append the reply size to the return message
rmsg = uint8([nLength' rmsg']);
end
......@@ -143,7 +185,18 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO write\n');
end
try
% Write to the bluetooth handle
fwrite(brickIO.handle,wmsg);
catch ME
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while sending data to the Brick via BT.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
end
end
end
\ No newline at end of file
source/hidapi.m
+ 62
− 29
View file @ 5109a72e
......@@ -19,6 +19,7 @@
% error Return the error string
% enumerate Enumerate the connected hid devices
%
%
% Example::
% hid = hidapi(1,1684,0005,1024,1025)
%
......@@ -61,6 +62,11 @@ classdef hidapi < handle
% checking is required in this function to load the correct
% library.
%
% Throws::
% LoadingLibraryError Could not load .dll/.dylib/.so-file of hidapi
% InvalidParameterOrFileMissing Either file names given were wrong or the files are missing
% (e.g. thunk files, proto files, ...)
%
% Notes::
% - debug is a flag specifying output printing (0 or 1).
% - vendorID is the vendor ID of the hid device (decimal not hex).
......@@ -68,6 +74,7 @@ classdef hidapi < handle
% - nReadBuffer is the length of the read buffer.
% - nWriteBuffer is the length of the write buffer.
hid.debug = debug;
if hid.debug > 0
......@@ -81,14 +88,9 @@ classdef hidapi < handle
hid.nWriteBuffer = nWriteBuffer;
end
% Disable the type not found for structure warning
% Disable warnings
warning('off','MATLAB:loadlibrary:TypeNotFoundForStructure');
if libisloaded('hidapiusb')
%warning('RWTHMindstormsEV3:hidapi:hidapi:LibraryAlreadyLoaded', ...
%'Library for USB-connection has already been loaded. Unloading...');
unloadlibrary('hidapiusb');
end
warning('off', 'MATLAB:loadlibrary:ClassIsLoaded');
try
% Check the operating system type and load slib
......@@ -116,7 +118,7 @@ classdef hidapi < handle
end
catch ME
% Create own exception for clarification
id = 'RWTHMindstormsEV3:hidapi:hidapi:LoadingLibraryError';
id = [ID(), ':', 'LoadingLibraryError'];
msg = strcat({'Could not load library '}, {hid.slib}, {'.'});
exception = MException(id, msg);
......@@ -124,7 +126,7 @@ classdef hidapi < handle
if isempty(findstr(ME.identifier, 'LoadFailed')) ...
&& isempty(findstr(ME.identifier, 'ErrorLoadingLibrary')) ...
&& isempty(findstr(ME.identifier, 'ErrorInHeader'))
id = 'RWTHMindstormsEV3:hidapi:hidapi:InvalidParameterOrFileMissing';
id = [ID(), ':', 'InvalidParameterOrFileMissing'];
msg = 'Invalid parameters were given or files are not available.';
cause = MException(id, msg);
exception = addCause(exception, cause);
......@@ -132,7 +134,6 @@ classdef hidapi < handle
throw(exception);
end
% Remove the library extension
hid.slib = 'hidapiusb';
......@@ -141,8 +142,6 @@ classdef hidapi < handle
end
end
%% Wrapper
function delete(hid)
%hidapi.delete Delete hid object
%
......@@ -156,10 +155,10 @@ classdef hidapi < handle
if hid.debug > 0
fprintf('hidapi delete\n');
end
hid.close();
end
%% Wrapper
function str = getManufacturersString(hid)
%hidapi.getManufacturersString get manufacturers string from hid object
%
......@@ -196,6 +195,9 @@ classdef hidapi < handle
% initialised values of vendorID and productID from the hidapi
% constructor.
%
% Throws::
% CommError Error during communication with device
%
% Notes::
% - The pointer return value from this library call is always
% null so it is not possible to know if the open was
......@@ -221,7 +223,7 @@ classdef hidapi < handle
% (MMI) Assert error case (hid_open returns null-pointer in error case)
assert(isLibPointerValid(newHandle)==1, ...
'RWTHMindstormsEV3:hidapi:open:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to connect to USB device.');
hid.handle = newHandle;
......@@ -232,6 +234,10 @@ classdef hidapi < handle
%
% hid.close() closes the connection to a hid device. Gets called automatically
% when deleting the hid instance.
%
% Throws::
% InvalidHandle Handle to USB-device not valid
%
if hid.debug > 0
fprintf('hidapi close\n');
......@@ -239,7 +245,7 @@ classdef hidapi < handle
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
'RWTHMindstormsEV3:hidapi:close:InvalidHandle', ...
[ID(), ':', 'InvalidHandle'], ...
'Failed to close USB-connection because pointer to USB-device is already invalidated.');
% Close the connection
......@@ -254,6 +260,11 @@ classdef hidapi < handle
%
% rmsg = hid.read() reads from a hid device and returns the
% read bytes. Will print an error if no data was read.
%
% Throws::
% CommError Error during communication with device
% InvalidHandle Handle to USB-device not valid
%
if hid.debug > 0
fprintf('hidapi read\n');
......@@ -266,7 +277,7 @@ classdef hidapi < handle
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
'RWTHMindstormsEV3:hidapi:read:InvalidHandle', ...
[ID(), ':', 'InvalidHandle'], ...
'Failed to read USB-data because pointer to USB-device is invalidated.');
% Read data from HID device
......@@ -274,7 +285,7 @@ classdef hidapi < handle
% (MMI) Check the response
assert(res>=1, ...
'RWTHMindstormsEV3:hidapi:read:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to read data via USB.');
% Return the string value
......@@ -287,6 +298,11 @@ classdef hidapi < handle
% hid.write() writes to a hid device. Will print an error if
% there is a mismatch between the buffer size and the reported
% number of bytes written.
%
% Throws::
% CommError Error during communication with device
% InvalidHandle Handle to USB-device not valid
%
if hid.debug > 0
fprintf('hidapi write\n');
......@@ -307,7 +323,7 @@ classdef hidapi < handle
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
'RWTHMindstormsEV3:hidapi:read:InvalidHandle', ...
[ID(), ':', 'InvalidHandle'], ...
'Failed to write to USB because pointer to USB-device is invalidated.');
% Write the message
......@@ -315,7 +331,7 @@ classdef hidapi < handle
% (MMI) Check the response
assert(res == length(wmsg), ...
'RWTHMindstormsEV3:hidapi:write:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to write data via USB.');
end
......@@ -325,6 +341,10 @@ classdef hidapi < handle
% hid.getHIDInfoString(info) gets the corresponding hid info
% from the hid device
%
% Throws::
% CommError Error during communication with device
% InvalidHandle Handle to USB-device not valid
%
% Notes::
% - info is the hid information string.
......@@ -342,7 +362,7 @@ classdef hidapi < handle
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
'RWTHMindstormsEV3:hidapi:getHIDInfoString:InvalidHandle', ...
[ID(), ':', 'InvalidHandle'], ...
'Failed to read USB-data because pointer to USB-device is invalidated.');
% Get the HID info string
......@@ -350,7 +370,7 @@ classdef hidapi < handle
% (MMI) Check the response
assert(res~=-1, ...
'RWTHMindstormsEV3:hidapi:getHIDInfoString:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to read HID info string.');
% Return the string value
......@@ -363,6 +383,10 @@ classdef hidapi < handle
% hid.setNonBlocking(nonblock) sets the non blocking flag on
% the hid device connection.
%
% Throws::
% CommError Error during communication with device
% InvalidHandle Handle to USB-device not valid
%
% Notes::
% nonblock - 0 disables nonblocking, 1 enables nonblocking
......@@ -372,7 +396,7 @@ classdef hidapi < handle
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
'RWTHMindstormsEV3:hidapi:setNonBlocking:InvalidHandle', ...
[ID(), ':', 'InvalidHandle'], ...
'Failed to set USB-read-mode to non-blocking because pointer to USB-device is invalidated.');
% Set non blocking
......@@ -380,7 +404,7 @@ classdef hidapi < handle
% (MMI) Check the response
assert(res~=-1, ...
'RWTHMindstormsEV3:hidapi:setNonBlocking:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to set USB-read-mode to non-blocking.');
end
......@@ -390,6 +414,9 @@ classdef hidapi < handle
% hid.init() inits the hidapi library. This is called
% automatically in the library itself with the open function.
%
% Throws::
% CommError Error during communication with device
%
% Notes::
% - You should not have to call this function directly.
......@@ -397,7 +424,7 @@ classdef hidapi < handle
fprintf('hidapi init\n');
end
warning('RWTHMindstormsEV3:hidapi:init:RedundantCall', ...
warning([ID(), ':', 'RedundantCall'], ...
'The init-function gets called automatically when connecting!');
% Init device
......@@ -405,7 +432,7 @@ classdef hidapi < handle
% (MMI) Check the response
assert(res~=-1, ...
'RWTHMindstormsEV3:hidapi:init:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to init USB-device.');
end
......@@ -414,6 +441,9 @@ classdef hidapi < handle
%
% hid.exit() exits the hidapi library.
%
% Throws::
% CommError Error during communication with device
%
% Notes::
% - You should not have to call this function directly.
......@@ -421,7 +451,7 @@ classdef hidapi < handle
fprintf('hidapi exit\n');
end
warning('RWTHMindstormsEV3:hidapi:exit:RedundantCall', ...
warning([ID(), ':', 'RedundantCall'], ...
'The exit-function gets called automatically when disconnecting!');
% Exit device
......@@ -429,7 +459,7 @@ classdef hidapi < handle
% (MMI) Check the response
assert(res~=-1, ...
'RWTHMindstormsEV3:hidapi:exit:CommError', ...
[ID(), ':', 'CommError'], ...
'Failed to exit USB-device.');
end
......@@ -439,6 +469,9 @@ classdef hidapi < handle
% hid.error() returns the hid device error string if a function
% produced an error.
%
% Throws::
% InvalidHandle Handle to USB-device not valid
%
% Notes::
% - This function must be called explicitly if you think an
% error was generated from the hid device.
......@@ -449,7 +482,7 @@ classdef hidapi < handle
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
'RWTHMindstormsEV3:hidapi:error:InvalidHandle', ...
[ID(), ':', 'InvalidHandle'], ...
'Failed to read USB-error-data because pointer to USB-device is invalidated.');
[~,str] = calllib(hid.slib,'hid_error',hid.handle);
......
source/usbBrickIO.m
+ 63
− 28
View file @ 5109a72e
......@@ -57,8 +57,31 @@ classdef usbBrickIO < BrickIO
end
% Create the usb handle
try
brickIO.handle = hidapi(0,brickIO.vendorID,brickIO.productID, ...
brickIO.nReadBuffer,brickIO.nWriteBuffer);
catch ME
if ~isempty(strfind(ME.identifier, 'InvalidParameterOrFileMissing'))
% Throw a clean InvalidParameterOrFileMissing to avoid confusion in upper layers
msg = ['Couldn''t load hidapi-library for USB connection due to a ' ...
'missing file. Make sure the correct hidapi-library and its ' ...
'corresponding thunk- and proto-files are available.'];
id = [ID(), ':', 'InvalidParameterOrFileMissing'];
throw(MException(id, msg));
elseif ~isempty(strfind(ME.identifier, 'LoadingLibraryError'))
% Throw a clean LoadingLibraryError to avoid confusion in upper layers
msg = 'Failed to load hidapi-library for USB connection.';
id = [ID(), ':', 'LoadingLibraryError'];
throw(MException(id, msg));
else
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while trying to load the HIDAPI-lib for USB.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
end
% Open the brick IO connection
brickIO.open;
......@@ -85,22 +108,23 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO open\n');
end
% open the usb handle (MMI: and handle possible errors)
% Open the usb handle (MMI: and handle possible errors)
try
brickIO.handle.open;
catch ME
if ~isempty(findstr(ME.identifier, 'CommError'))
if ~isempty(strfind(ME.identifier, 'CommError'))
% Throw a clean CommError to avoid confusion in upper layers
msg = 'Failed to open connection to Brick via USB.';
id = 'MATLAB:RWTHMindstormsEV3:usbBrickIO:write:CommError';
throw(MException(msg, id));
id = [ID(), ':', 'CommError'];
throw(MException(id, msg));
else
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while trying to connect to the Brick via USB.';
id = 'MATLAB:RWTHMindstormsEV3:btBrickIO:open:UnknownError';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(ME);
throw(newException);
end
end
end
......@@ -113,8 +137,18 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO close\n');
end
% close the usb handle
try
% Close the usb handle
brickIO.handle.close;
catch ME
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while reading data from the Brick via BT.';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(newException);
end
end
function rmsg = read(brickIO)
......@@ -130,27 +164,28 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO read\n');
end
% read from the usb handle
% Read from the usb handle
try
rmsg = brickIO.handle.read;
catch ME
if ~isempty(findstr(ME.identifier, 'CommError'))
if ~isempty(strfind(ME.identifier, 'CommError'))
% Throw a clean CommError to avoid confusion in upper layers
msg = 'Failed to read data from the Brick via USB due to connection-error.';
id = 'MATLAB:RWTHMindstormsEV3:usbBrickIO:read:CommError';
throw(MException(msg, id));
elseif ~isempty(findstr(ME.identifier, 'InvalidHandle'))
id = [ID(), ':', 'CommError'];
throw(MException(id, msg));
elseif ~isempty(strfind(ME.identifier, 'InvalidHandle'))
% Throw a clean InvalidHandle to avoid confusion in upper layers
msg = 'Failed to read data from the Brick via USB due to invalid handle to USB-device.';
id = 'MATLAB:RWTHMindstormsEV3:usbBrickIO:read:InvalidHandle';
throw(MException(msg, id));
id = [ID(), ':', 'InvalidHandle'];
throw(MException(id, msg));
else
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while reading data from the Brick via USB.';
id = 'MATLAB:RWTHMindstormsEV3:usbBrickIO:read:UnknownError';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(ME);
throw(newException);
end
end
......@@ -173,7 +208,7 @@ classdef usbBrickIO < BrickIO
if nLength+2 < length(rmsg)
rmsg = rmsg(1:nLength+2);
else
warning('MATLAB:RWTHMindstormsEV3:usbBrickIO:read:CorruptPacket', ...
warning([ID(), ':', 'CorruptPacket'], ...
'Returned packet''s length doesn''t equal its length indicator (bytes 1 & 2).');
end
......@@ -196,23 +231,23 @@ classdef usbBrickIO < BrickIO
try
brickIO.handle.write(wmsg,0);
catch ME
if ~isempty(findstr(ME.identifier, 'CommError'))
if ~isempty(strfind(ME.identifier, 'CommError'))
% Throw a clean CommError to avoid confusion in upper layers
msg = 'Failed to send data to Brick via USB due to connection-error.';
id = 'MATLAB:RWTHMindstormsEV3:usbBrickIO:write:CommError';
throw(MException(msg, id));
elseif ~isempty(findstr(ME.identifier, 'InvalidHandle'))
id = 'RWTHMindstormsEV3:usbBrickIO:write:CommError';
throw(MException(id, msg));
elseif ~isempty(strfind(ME.identifier, 'InvalidHandle'))
% Throw a clean InvalidHandle to avoid confusion in upper layers
msg = 'Failed to send data to Brick via USB due to invalid handle to USB-device.';
id = 'MATLAB:RWTHMindstormsEV3:usbBrickIO:write:InvalidHandle';
throw(MException(msg, id));
id = [ID(), ':', 'InvalidHandle'];
throw(MException(id, msg));
else
% Throw combined error because error did not happen due to known reasons...
msg = 'Unknown error occurred while sending data to the Brick via USB.';
id = 'MATLAB:RWTHMindstormsEV3:btBrickIO:open:UnknownError';
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
throw(ME);
throw(newException);
end
end
end
......
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